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<div class="title">octree_pointcloud_adjacency.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2012, Jeremie Papon</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_POINTCLOUD_ADJACENCY_HPP_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_OCTREE_POINTCLOUD_ADJACENCY_HPP_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2geometry_8h.html">pcl/common/geometry.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment"> * OctreePointCloudAdjacency is not precompiled, since it&#39;s used in other</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment"> * parts of PCL with custom LeafContainers. So if PCL_NO_PRECOMPILE is NOT</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment"> * used, octree_pointcloud_adjacency.h includes this file but octree_pointcloud.h</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment"> * would not include the implementation because it&#39;s precompiled. So we need to</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment"> * include it here &quot;manually&quot;.</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/octree/impl/octree_pointcloud.hpp&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; </div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ab60753b34c6a12760da82cf9ea74cb75">   54</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ab60753b34c6a12760da82cf9ea74cb75">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::OctreePointCloudAdjacency</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> resolution_arg) </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;: <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html">OctreePointCloud</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, LeafContainerT, BranchContainerT</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;, <a class="code" href="classpcl_1_1octree_1_1_octree_base.html">OctreeBase</a>&lt;LeafContainerT, BranchContainerT&gt; &gt; (resolution_arg)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;{</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;}</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a60fb93a56effff0f432477496ec53b7d">   63</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a60fb93a56effff0f432477496ec53b7d">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::addPointsFromInputCloud</a> ()</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">//double t1,t2;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">float</span> minX = std::numeric_limits&lt;float&gt;::max (), minY = std::numeric_limits&lt;float&gt;::max (), minZ = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">float</span> maxX = -std::numeric_limits&lt;float&gt;::max(), maxY = -std::numeric_limits&lt;float&gt;::max(), maxZ = -std::numeric_limits&lt;float&gt;::max();</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; input_-&gt;size (); ++i)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp (input_-&gt;points[i]);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">if</span> (transform_func_) <span class="comment">//Search for point with </span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      transform_func_ (temp);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">if</span> (!pcl::isFinite (temp)) <span class="comment">//Check to make sure transform didn&#39;t make point not finite</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">if</span> (temp.x &lt; minX)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      minX = temp.x;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">if</span> (temp.y &lt; minY)</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      minY = temp.y;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">if</span> (temp.z &lt; minZ)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      minZ = temp.z;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">if</span> (temp.x &gt; maxX)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      maxX = temp.x;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">if</span> (temp.y &gt; maxY)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      maxY = temp.y;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordflow">if</span> (temp.z &gt; maxZ)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      maxZ = temp.z;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  this-&gt;defineBoundingBox (minX, minY, minZ, maxX, maxY, maxZ);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">OctreePointCloud&lt;PointT, LeafContainerT, BranchContainerT&gt;::addPointsFromInputCloud</a> ();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  LeafContainerT *leaf_container;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeAdjacencyT::LeafNodeIterator</a> leaf_itr;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  leaf_vector_.reserve (this-&gt;getLeafCount ());</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">for</span> ( leaf_itr = this-&gt;leaf_begin () ; leaf_itr != this-&gt;leaf_end (); ++leaf_itr)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> leaf_key = leaf_itr.<a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html#a2c8a14332aaa89bfeb2125d8422b2c4d">getCurrentOctreeKey</a> ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    leaf_container = &amp;(leaf_itr.<a class="code" href="classpcl_1_1octree_1_1_octree_iterator_base.html#a8bbd32273e2ce53b6430c9c12a8d46cf">getLeafContainer</a> ());</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">//Run the leaf&#39;s compute function</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    leaf_container-&gt;computeData ();</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    computeNeighbors (leaf_key, leaf_container);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    leaf_vector_.push_back (leaf_container);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  }</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">//Make sure our leaf vector is correctly sized</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  assert (leaf_vector_.size () == this-&gt;getLeafCount ());</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">  114</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::genOctreeKeyforPoint</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg,<a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp; key_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordflow">if</span> (transform_func_)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> temp (point_arg);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    transform_func_ (temp);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;   <span class="comment">// calculate integer key for transformed point coordinates</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordflow">if</span> (pcl::isFinite (temp)) <span class="comment">//Make sure transformed point is finite - if it is not, it gets default key</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      key_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((temp.x - this-&gt;min_x_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      key_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((temp.y - this-&gt;min_y_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      key_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((temp.z - this-&gt;min_z_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      key_arg = <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  }</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="comment">// calculate integer key for point coordinates</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    key_arg.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.x - this-&gt;min_x_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    key_arg.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.y - this-&gt;min_y_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    key_arg.z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> ((point_arg.z - this-&gt;min_z_) / this-&gt;resolution_);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  }</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">  143</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::addPointIdx</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pointIdx_arg)</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;{</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  assert (pointIdx_arg &lt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (this-&gt;input_-&gt;points.size ()));</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = this-&gt;input_-&gt;points[pointIdx_arg];</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keywordflow">if</span> (!pcl::isFinite (point))</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;   </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  this-&gt;genOctreeKeyforPoint (point, key);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">// add point to octree at key</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  LeafContainerT* container = this-&gt;createLeaf(key);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  container-&gt;addPoint (point);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">  162</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::computeNeighbors</a> (<a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, LeafContainerT* leaf_container)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;{ </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">//Make sure requested key is valid</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">if</span> (key_arg.x &gt; this-&gt;max_key_.x || key_arg.y &gt; this-&gt;max_key_.y || key_arg.z &gt; this-&gt;max_key_.z)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;OctreePointCloudAdjacency::computeNeighbors Requested neighbors for invalid octree key\n&quot;</span>);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> neighbor_key;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <span class="keywordtype">int</span> dx_min = (key_arg.x &gt; 0) ? -1 : 0;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordtype">int</span> dy_min = (key_arg.y &gt; 0) ? -1 : 0;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordtype">int</span> dz_min = (key_arg.z &gt; 0) ? -1 : 0;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordtype">int</span> dx_max = (key_arg.x == this-&gt;max_key_.x) ? 0 : 1;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordtype">int</span> dy_max = (key_arg.y == this-&gt;max_key_.y) ? 0 : 1;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keywordtype">int</span> dz_max = (key_arg.z == this-&gt;max_key_.z) ? 0 : 1;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dx = dx_min; dx &lt;= dx_max; ++dx)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dy = dy_min; dy &lt;= dy_max; ++dy)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dz = dz_min; dz &lt;= dz_max; ++dz)</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      {</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        neighbor_key.x = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (key_arg.x + dx);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        neighbor_key.y = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (key_arg.y + dy);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        neighbor_key.z = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (key_arg.z + dz);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        LeafContainerT *neighbor = this-&gt;findLeaf (neighbor_key);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordflow">if</span> (neighbor)</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          leaf_container-&gt;addNeighbor (neighbor);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  }</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;}</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; LeafContainerT*</div>
<div class="line"><a name="l00202"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4f7b7d0c23cb413530b85042d021f9bf">  202</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4f7b7d0c23cb413530b85042d021f9bf">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::getLeafContainerAtPoint</a> (</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  LeafContainerT* leaf = 0;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  <span class="comment">// generate key</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  this-&gt;genOctreeKeyforPoint (point_arg, key);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  leaf = this-&gt;findLeaf (key);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">return</span> leaf;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;}</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4c04692ebdce08de83a2568cac551276">  217</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4c04692ebdce08de83a2568cac551276">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::computeVoxelAdjacencyGraph</a> (VoxelAdjacencyList &amp;voxel_adjacency_graph)</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;{</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  <span class="comment">//TODO Change this to use leaf centers, not centroids!</span></div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  </div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  voxel_adjacency_graph.clear ();</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="comment">//Add a vertex for each voxel, store ids in map</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  std::map &lt;LeafContainerT*, VoxelID&gt; leaf_vertex_id_map;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeAdjacencyT::LeafNodeIterator</a> leaf_itr = this-&gt;leaf_begin () ; leaf_itr != this-&gt;leaf_end (); ++leaf_itr)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> leaf_key = leaf_itr.getCurrentOctreeKey ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> centroid_point;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    this-&gt;genLeafNodeCenterFromOctreeKey (leaf_key, centroid_point);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    VoxelID node_id = add_vertex (voxel_adjacency_graph);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    voxel_adjacency_graph[node_id] = centroid_point;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    LeafContainerT* leaf_container = &amp;(leaf_itr.getLeafContainer ());</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    leaf_vertex_id_map[leaf_container] = node_id;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  }</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">//Iterate through and add edges to adjacency graph</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">for</span> ( <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::iterator leaf_itr = leaf_vector_.begin (); leaf_itr != leaf_vector_.end (); ++leaf_itr)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <span class="keyword">typename</span> LeafContainerT::iterator neighbor_itr = (*leaf_itr)-&gt;begin ();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <span class="keyword">typename</span> LeafContainerT::iterator neighbor_end = (*leaf_itr)-&gt;end ();</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    LeafContainerT* neighbor_container;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    VoxelID u = (leaf_vertex_id_map.find (*leaf_itr))-&gt;second;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p_u = voxel_adjacency_graph[u];</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <span class="keywordflow">for</span> ( ; neighbor_itr != neighbor_end; ++neighbor_itr)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    {</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      neighbor_container = *neighbor_itr;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;      EdgeID edge;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      <span class="keywordtype">bool</span> edge_added;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      VoxelID v = (leaf_vertex_id_map.find (neighbor_container))-&gt;second;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      boost::tie (edge, edge_added) = add_edge (u,v,voxel_adjacency_graph);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;      </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p_v = voxel_adjacency_graph[v];</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <span class="keywordtype">float</span> dist = (p_v.getVector3fMap () - p_u.getVector3fMap ()).norm ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      voxel_adjacency_graph[edge] = dist;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;}</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a209f1bdf001dffcec55a09f556cd13a2">  264</a></span>&#160;<a class="code" href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a209f1bdf001dffcec55a09f556cd13a2">pcl::octree::OctreePointCloudAdjacency&lt;PointT, LeafContainerT, BranchContainerT&gt;::testForOcclusion</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point_arg, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> &amp;camera_pos)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;{</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  this-&gt;genOctreeKeyforPoint (point_arg, key);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="comment">// This code follows the method in Octree::PointCloud</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  Eigen::Vector3f sensor(camera_pos.x,</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                         camera_pos.y,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                         camera_pos.z);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  Eigen::Vector3f leaf_centroid(<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.x) + 0.5f) * this-&gt;resolution_ + this-&gt;min_x_),</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.y) + 0.5f) * this-&gt;resolution_ + this-&gt;min_y_), </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;                                <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ((<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (key.z) + 0.5f) * this-&gt;resolution_ + this-&gt;min_z_));</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  Eigen::Vector3f direction = sensor - leaf_centroid;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordtype">float</span> norm = direction.norm ();</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">float</span> precision = 1.0f;</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> step_size = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (resolution_) * precision;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nsteps = std::max (1, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (norm / step_size));</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> prev_key = key;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="comment">// Walk along the line segment with small steps.</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  Eigen::Vector3f p = leaf_centroid;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> octree_p;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nsteps; ++i)</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    <span class="comment">//Start at the leaf voxel, and move back towards sensor.</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    p += (direction * step_size);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    octree_p.x = p.x ();</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;    octree_p.y = p.y ();</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;    octree_p.z = p.z ();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="comment">//  std::cout &lt;&lt; octree_p&lt;&lt; &quot;\n&quot;;</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    this-&gt;genOctreeKeyforPoint (octree_p, key);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;    </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="comment">// Not a new key, still the same voxel (starts at self).</span></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    <span class="keywordflow">if</span> ((key == prev_key))</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    prev_key = key;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    LeafContainerT *leaf = this-&gt;findLeaf (key);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="comment">//If the voxel is occupied, there is a possible occlusion</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;    <span class="keywordflow">if</span> (leaf)</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    {</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;     <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  }</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="comment">//If we didn&#39;t run into a voxel on the way to this camera, it can&#39;t be occluded.</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;}</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_OctreePointCloudAdjacency(T) template class PCL_EXPORTS pcl::octree::OctreePointCloudAdjacency&lt;T&gt;;</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_base.html">pcl::octree::OctreeBase</a></div><div class="ttdoc">Octree class</div><div class="ttdef"><b>Definition:</b> octree_base.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_iterator_base_html_a2c8a14332aaa89bfeb2125d8422b2c4d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_iterator_base.html#a2c8a14332aaa89bfeb2125d8422b2c4d">pcl::octree::OctreeIteratorBase::getCurrentOctreeKey</a></div><div class="ttdeci">const OctreeKey &amp; getCurrentOctreeKey() const</div><div class="ttdoc">Get octree key for the current iterator octree node</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_iterator_base_html_a8bbd32273e2ce53b6430c9c12a8d46cf"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_iterator_base.html#a8bbd32273e2ce53b6430c9c12a8d46cf">pcl::octree::OctreeIteratorBase::getLeafContainer</a></div><div class="ttdeci">const LeafContainer &amp; getLeafContainer() const</div><div class="ttdoc">Method for retrieving a single leaf container from the octree leaf node</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_iterator_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">pcl::octree::OctreeLeafNodeIterator</a></div><div class="ttdoc">Octree leaf node iterator class</div><div class="ttdef"><b>Definition:</b> octree_iterator.h:535</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a17113d2d4238be2627c6082351ab859a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a17113d2d4238be2627c6082351ab859a">pcl::octree::OctreePointCloudAdjacency::genOctreeKeyforPoint</a></div><div class="ttdeci">void genOctreeKeyforPoint(const PointT &amp;point_arg, OctreeKey &amp;key_arg) const</div><div class="ttdoc">Generates octree key for specified point (uses transform if provided).</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:114</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a209f1bdf001dffcec55a09f556cd13a2"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a209f1bdf001dffcec55a09f556cd13a2">pcl::octree::OctreePointCloudAdjacency::testForOcclusion</a></div><div class="ttdeci">bool testForOcclusion(const PointT &amp;point_arg, const PointXYZ &amp;camera_pos=PointXYZ(0, 0, 0))</div><div class="ttdoc">Tests whether input point is occluded from specified camera point by other voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:264</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a4c04692ebdce08de83a2568cac551276"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4c04692ebdce08de83a2568cac551276">pcl::octree::OctreePointCloudAdjacency::computeVoxelAdjacencyGraph</a></div><div class="ttdeci">void computeVoxelAdjacencyGraph(VoxelAdjacencyList &amp;voxel_adjacency_graph)</div><div class="ttdoc">Computes an adjacency graph of voxel relations.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:217</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a4f7b7d0c23cb413530b85042d021f9bf"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a4f7b7d0c23cb413530b85042d021f9bf">pcl::octree::OctreePointCloudAdjacency::getLeafContainerAtPoint</a></div><div class="ttdeci">LeafContainerT * getLeafContainerAtPoint(const PointT &amp;point_arg) const</div><div class="ttdoc">Gets the leaf container for a given point.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:202</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_a60fb93a56effff0f432477496ec53b7d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#a60fb93a56effff0f432477496ec53b7d">pcl::octree::OctreePointCloudAdjacency::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Adds points from cloud to the octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_aadcdf4aeeefe6f98055f4e59e238513c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#aadcdf4aeeefe6f98055f4e59e238513c">pcl::octree::OctreePointCloudAdjacency::computeNeighbors</a></div><div class="ttdeci">void computeNeighbors(OctreeKey &amp;key_arg, LeafContainerT *leaf_container)</div><div class="ttdoc">Fills in the neighbors fields for new voxels.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:162</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_ab60753b34c6a12760da82cf9ea74cb75"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ab60753b34c6a12760da82cf9ea74cb75">pcl::octree::OctreePointCloudAdjacency::OctreePointCloudAdjacency</a></div><div class="ttdeci">OctreePointCloudAdjacency(const double resolution_arg)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:54</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_adjacency_html_ae4f971ffae17d6d23dc3d6fb46caedb4"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud_adjacency.html#ae4f971ffae17d6d23dc3d6fb46caedb4">pcl::octree::OctreePointCloudAdjacency::addPointIdx</a></div><div class="ttdeci">virtual void addPointIdx(const int point_idx_arg)</div><div class="ttdoc">Add point at index from input pointcloud dataset to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud_adjacency.hpp:143</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html">pcl::octree::OctreePointCloud</a></div><div class="ttdoc">Octree pointcloud class</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_point_cloud_html_ac477d9477e781d980709b1e8886d2c7c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_point_cloud.html#ac477d9477e781d980709b1e8886d2c7c">pcl::octree::OctreePointCloud::addPointsFromInputCloud</a></div><div class="ttdeci">void addPointsFromInputCloud()</div><div class="ttdoc">Add points from input point cloud to octree.</div><div class="ttdef"><b>Definition:</b> octree_pointcloud.hpp:65</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html">geometry.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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